参数摄动下欠驱动USV全局积分滑模控制技术研究  

Global integrated sliding mode control for unmanned surface vehicle under parameter perturbation

作　　者：马浩哲 赵江滨[1,2,3] 韦海宇 谈威 MA Haozhe;ZHAO Jiangbin;WEI Haiyu;AN Wei(State Key Laboratory of Maritime Technology and Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Reliability Engineering Institute,National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学水路交通控制全国重点实验室,湖北武汉430063 [2]武汉理工大学交通与物流工程学院,湖北武汉430063 [3]武汉理工大学国家水运安全工程技术研究中心可靠性与新能源研究所,湖北武汉430063

出　　处：《舰船科学技术》2025年第5期112-117,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(522722474)。

摘　　要：在不确定洋流因素的影响下,通过有效的控制算法对无人船进行控制是其能够实现水下勘察、搜救巡逻等任务的有效前提。本文提出一种存在水动力参数摄动下基于LOS制导律的全局积分滑模轨迹跟踪控制器,首先通过视线法(LOS)设计位姿控制器从而得出速度虚拟控制输入,其次通过全局积分滑模(GISMC)控制设计动态控制器,在控制器设计中采用改进的连续函数进行补偿,并通过李雅普诺夫函数保证整个闭环系统的稳定性。最后通过对2种不同曲率轨迹的跟踪仿真结果验证了所设计控制器的有效性和可靠性。Under the influence of uncertain ocean current factors,the control of unmanned ships through effective con-trol algorithms is an effective prerequisite for underwater survey,search and rescue patrols and other tasks.In this paper,a global integral sliding mode trajectory tracking controller based on the perturbation LOS guidance law of hydrodynamic parameters is proposed,firstly,the position and atitude controller is designed by the line-of-sight method(LOS)to obtain the virtual control input of velocity,and secondly,the dynamic controller is designed by the global integral sliding mode control(GISMC),and the improved continuous function is used to compensate in the controller design,and the stability of the whole closed-loop system is ensured by the Lyapunov function.Finally,the effectiveness and reliability of the designed controller are verified by the tracking simulation results of two different curvature trajectories.

关 键 词：水面无人艇 轨迹跟踪 李雅普诺夫稳定性理论 积分滑模控制 参数摄动 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]